CN210130289U - Electric plant protection machine - Google Patents
Electric plant protection machine Download PDFInfo
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- CN210130289U CN210130289U CN201822199096.5U CN201822199096U CN210130289U CN 210130289 U CN210130289 U CN 210130289U CN 201822199096 U CN201822199096 U CN 201822199096U CN 210130289 U CN210130289 U CN 210130289U
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Abstract
The utility model provides an electronic plant protection machine and system thereof, this electronic plant protection machine system includes an electronic plant protection machine and a controller, and this electronic plant protection machine and this controller communicably connect, through operating this controller remote control operation this electronic plant protection machine and carry out plant protection operations such as motion and spraying. The electric plant protection machine comprises a processing unit and a sensing unit, wherein the sensing unit is used for receiving operation information of the electric plant protection machine in use, and the processing unit generates a control command based on the operation information and control information sent by the controller to control the operation of the electric plant protection machine so as to realize unmanned and intelligent operation of the electric plant protection machine.
Description
Technical Field
The utility model relates to an agricultural machine specifically, relates to an electronic plant protection machine and have electronic plant protection machine system of controller and realize the remote control operation of this plant protection machine through the communication connection of this plant protection machine and this controller.
Background
The plant protection machine is widely used for agriculture and forestry production, is an important machine for ensuring high yield and high harvest of agriculture and forestry crops, and particularly becomes one of indispensable agricultural machines for mechanized agriculture and forestry production.
The existing plant protection machines are usually agricultural vehicles with special plant protection devices, and the operator is required to directly operate the running path and spraying of the plant protection machine. Such plant protection machine needs operating personnel to possess certain professional skill and can use, and operating personnel need uninterruptedly control plant protection machine simultaneously, consequently should not carry out work under complicated operating modes such as bad weather or topography. The requirements of the plant protection machine on the professional ability of the operator and the use condition limit the use of the plant protection machine, and the plant protection machine cannot be suitable for wider use groups and use environments.
In addition, except for exposure to the sun and rain and physical impact during operation, the operator inevitably splashes during operations such as pesticide spraying, chemical fertilizer application and the like, and these causes labor damage to the operator during the use of the plant protection machine. Although many manufacturers attempt to add protective equipment to the cockpit to ensure the safety of the operator in the use of the plant protection machine, such as adding a protective cover or using a closed cockpit, the possibility of labor injury is still not completely avoided, and the complexity of the structure of the machine body and the weight of the whole machine are increased. The contradiction that the artificial driving is difficult to be compatible with the wider application scene and the design of the optimized plant protection machine exists.
On the other hand, the traditional plant protection machine can only carry out basic operations such as passive spraying, fertilizer spreading and the like, and has single function. The operation range and effect of the plant protection machine depend on the judgment and experience of operators, the plant protection machine cannot provide scientific planning and suggestion for plant protection operation, and in actual use, manual operation is often difficult to ensure that agricultural and forestry crops are uniformly and fully sprayed without leakage in the operation of the plant protection machine. Meanwhile, the plant protection machine cannot provide timely feedback for information such as spraying pressure, driving track, pesticide allowance and the like in use, and an operator operates under the condition of lacking reference information, so that the accuracy and reliability of plant protection operation are difficult to guarantee.
With the gradual maturity of unmanned technology and the continuous popularization of modern communication technology, agricultural machinery is also urgently required to be upgraded to simplify the operation of the agricultural machinery, and unmanned and intelligent operation of the agricultural machinery is realized. Therefore, the plant protection machine which can be operated remotely and operated intelligently is beneficial to promoting scientific and humanized development of plant protection operation.
Disclosure of Invention
An object of the utility model is to provide an electronic plant protection machine, wherein electronic plant protection machine is suitable for remote control operation and possesses the function of receiving, analysis, processing an operation information, and the foundation operation information output the operation action of plant protection machine is realized electronic plant protection machine intellectuality operation.
Another object of the utility model is to provide an electronic plant protection machine, wherein electronic plant protection machine need not an operating personnel take electronic plant protection machine direct operation has practiced thrift the manpower, has avoided operating personnel in use suffers work injuries such as pesticide splash, physical collision.
Another object of the present invention is to provide an electric plant protection machine, wherein the electric plant protection machine is remotely controlled by a controller, the controller is connected with the electric plant protection machine in communication, and the controller is operated by the operation the movement path of the electric plant protection machine is sprayed.
Another object of the utility model is to provide an electronic plant protection machine, wherein the operation of electronic plant protection machine need not operating personnel grasps professional plant protection machine and drives and operating skill, has simplified the operation of electronic plant protection machine has reduced the learning cost and has used the threshold.
Another object of the present invention is to provide an electric plant protection machine, wherein in some embodiments, the electric plant protection machine omits control devices such as cockpit, steering wheel, optimizes the structure and manufacturing process of the plant protection machine, saves the manufacturing cost, reduces the weight of the electric plant protection machine, reduces the load on crops in use, and makes the design of the electric plant protection machine flexible and changeable.
Another object of the present invention is to provide an electric plant protection machine, wherein in some embodiments, the electric plant protection machine includes an electric control steering valve, the electric control steering valve is controlled by the remote controller to directly perform steering operation, control the movement track of the electric plant protection machine simplifies the steering transmission mechanism of the electric plant protection machine.
According to an aspect of the present invention, the present invention further provides an electric plant protection machine, wherein in some embodiments, the electric plant protection machine is adapted to remote control operation while maintaining the operation mode of direct operation, so that the electric plant protection machine does not depend on the controller, thereby improving the applicability of the electric plant protection machine.
According to an aspect of the utility model, the utility model discloses an aspect further provides an electronic plant protection machine, wherein electronic plant protection machine includes a control motor and a steering wheel, the control motor receives remote controller control and execution turn to the operation, through the control motor linkage the steering wheel realizes unmanned control the movement track of electronic plant protection machine.
According to another aspect of the utility model, the utility model discloses further provide an electronic plant protection machine, wherein the controller passes through radio remote control electronic plant protection machine, through this kind of mode, the remote operation of electronic plant protection machine possesses instantaneity and stability.
According to another aspect of the utility model, the utility model discloses an electronic plant protection machine is further provided, wherein in the motion is responded to in electronic plant protection machine discernment operation information, according to operation information output the motion orbit of electronic plant protection machine, spray the route, spout operation actions such as medicine volume.
According to the utility model discloses an in another aspect, the utility model discloses further provide an electronic plant protection machine, wherein electronic plant protection machine includes an induction element, the induction element response is spouted operation information such as medicine pressure, material surplus, electric quantity, barrier to turn into the signal of telecommunication, realize through this kind of mode operation information's receipt.
According to another aspect of the present invention, the present invention further provides an electric plant protection machine, the electric plant protection machine includes a processing unit, the processing unit receives the operation information from the sensing unit and the control information from the controller, and processes and generates a control operation command for the operation of the electric plant protection machine, based on the operation command, the electric plant protection machine outputs the operation.
According to another aspect of the present invention, the utility model further provides an electric plant protection machine, wherein the processing unit includes a preset program, according to preset program output the action command, control the automatic operation of electric plant protection machine further simplifies the operation of electric plant protection machine.
In order to achieve at least one of the above objects, the present invention provides an electric plant protection machine, comprising:
a vehicle body;
a drive unit including a motor, wherein the drive unit is mounted on the vehicle body and adapted to drive the vehicle body;
the spraying unit is loaded on the vehicle body and is suitable for plant protection spraying;
a power supply unit, wherein the power supply unit is mounted on the vehicle body; and
a processing unit, wherein the processing unit is mounted on the vehicle body, wherein the driving unit drives the vehicle body to travel, wherein the spraying unit is adapted for plant protection spraying, wherein the processing unit is electrically connected with the driving unit and the spraying unit, wherein the processing unit is adapted to be remotely connected with a controller to send operation information to the controller and receive control information from the controller, and the processing unit generates a control command to control the electric plant protection machine based on the control information and the operation information.
Wherein the power supply unit is electrically connected with the driving unit, the spraying unit and the processing unit and provides electric energy for the driving unit, the spraying unit and the processing unit.
In some embodiments, the driving unit includes at least one motor and a steering mechanism, and the vehicle body includes a frame and a set of wheels, wherein the processor is electrically connected to the motor and the steering mechanism to control the operation of the motor and the steering mechanism, wherein the motor drives the wheels, and wherein the steering mechanism steers the wheels.
In some embodiments, wherein the processing unit comprises a processor, a communication module, and a memory module, wherein the processor is electrically connected to the communication module and the memory module, wherein the communication module is adapted to be communicatively coupled to the controller.
In some embodiments, the steering mechanism comprises an electrically controlled steering valve, wherein the electrically controlled steering valve is mechanically connected to the wheel to steer the wheel, and wherein the processing unit is electrically connected to the electrically controlled steering valve to control steering of the electric plant protection machine.
In some embodiments, the spraying unit includes a spraying pipe, a bracket and a material tank, wherein the processing unit is electrically connected with the bracket to control the operation of the bracket, wherein the spraying pipe is communicated with the material tank, and wherein the bracket supports the spraying pipe and is suitable for driving and controlling the spraying height and direction of the spraying pipe.
In some embodiments, wherein the spray conduit comprises a set of spray tubes and a set of spray valves, wherein the spray valves are arranged in the spray tubes, wherein the processing unit is electrically connected to the spray valves to control plant protection spraying.
In some embodiments, the vehicle body further comprises a cab, wherein the cab is disposed on the frame for an operator to operate the electric plant protection machine with the electric plant protection machine.
In some embodiments, the electric plant protection machine further comprises a control unit comprising an operating mechanism and a feedback mechanism, the control unit being electrically connected to the processing unit to receive the operation information, wherein the feedback mechanism is adapted to feedback the operation information, wherein the operating module is adapted to be operated to generate a control message.
In some embodiments, the steering mechanism comprises a steering wheel and a control motor, wherein the steering wheel is mechanically connected to the wheels and is adapted to be operated to control the steering of the electric plant protection machine, wherein the control motor is mechanically connected to the steering wheel to drive the steering wheel to operate, and the processing unit is electrically connected to the control motor to control the operation of the control motor.
In some embodiments, wherein the control unit is electrically connected to the drive unit, the power supply unit, and the spray unit to directly control the operation of the electric plant protection machine.
In some embodiments, the electric plant protection machine is adapted to be communicatively wirelessly connected to the controller.
In some embodiments, the plant protection system further comprises a sensing unit, wherein the sensing unit is adapted to sense and receive the operation information during the operation of the electric plant protection machine, wherein the sensing unit is communicatively connected with the processing unit to transmit the operation information to the processing unit.
In some embodiments, the electric plant protection machine is adapted to be communicatively wirelessly connected to the controller.
In some embodiments, the sensing unit comprises a pressure sensor, wherein the pressure sensor is adapted to detect the operation information of the pipeline pressure when the electric plant protection machine sprays plant protection.
In some embodiments, wherein the sensing unit comprises a material sensor, wherein the material sensor is adapted to detect the operation information of the material balance
In some embodiments, the sensing unit comprises a power monitor, the power monitor is disposed in the power supply unit and adapted to detect the operation information of battery usage of the electric plant protection machine during operation.
In some embodiments, the sensing unit includes a set of image capturing devices, wherein the image capturing devices are disposed on the vehicle body and adapted to capture the operation information of the image of the periphery of the electric plant protection machine.
In some embodiments, the sensing unit comprises a set of distance sensors adapted to detect the operation information of the distance between the electric plant protection machine and an obstacle.
In some embodiments, the sensing unit comprises a motor detector, which is disposed on the motor and is adapted to detect the operation information of the motor operation state.
In some embodiments, the sensing unit comprises a locator communicatively coupled to the processing unit and adapted to generate the operation information of the position of the electric plant protection machine.
In some embodiments, the processing unit further includes a preset program group stored in the storage module, and the processing unit generates the control command based on the preset program group when the control information is not sent to the processing unit
According to the utility model discloses an on the other hand, the utility model discloses an electronic plant protection machine system is further provided, include:
one or more electric plant protection machines, comprising a vehicle body, a driving unit, a power supply unit, a spraying unit and a processing unit, wherein the driving unit, the power supply unit, the spraying unit and the processing unit are loaded on the vehicle body, wherein the power supply unit is electrically connected with the driving unit, the spraying unit and the processing unit, and provides electric energy for the driving unit, the spraying unit and the processing unit, wherein the driving unit drives the vehicle body to run, the driving unit comprises a motor, wherein the spraying unit is suitable for plant protection spraying, and wherein the processing unit is electrically connected with the driving unit and the spraying unit; and a controller, the controller comprising a signal module, an operation module and a feedback module, wherein the signal module is electrically connected with the operation module and the feedback module, wherein the feedback module is suitable for feeding back operation information, and the operation module is suitable for being operated to generate control information;
according to the utility model discloses an on the other hand, the utility model discloses an electronic plant protection machine system control method is further provided, including the step:
a, activating an electric plant protection machine, wherein the electric plant protection machine is in a standby state;
b, a processing unit of the electric plant protection machine receives operation information and control information;
c, sending the operation information to a controller;
d, judging whether the processing unit generates a control command based on the control information and the job information: if not, returning to the step B; if yes, continuing to execute the next step; and
e, judging whether the control command controls the electric plant protection machine to stop: if not, executing the control command, and then returning to the step B; and if so, ending the operation of the electric plant protection machine.
In some embodiments, in the step B, the control information is sent by the controller, and the operation information is sent by a sensing unit.
In some embodiments, in step B, wherein the control information is sent through the controller and the control unit of the electric plant protection machine, and in step D, the operation information is sent to the controller and the control unit.
In some embodiments, the step B further comprises the step of determining whether the processing unit has a preset program group for controlling the electric plant protection machine: if yes, executing the preset program group, and generating the control command by the processing unit based on the preset program group to control the operation action of the electric plant protection machine; if not, a processing unit of the electric plant protection machine receives operation information and control information.
According to the utility model discloses an on the other hand, the utility model discloses still provide an electronic plant protection machine system control method, including the step:
a, activating an electric plant protection machine, wherein the electric plant protection machine is in a standby state;
b, judging whether an operation command from a control unit of the electric plant protection machine exists: if so, judging whether the operation command controls the electric plant protection machine to stop or not, if so, stopping the operation of the electric plant protection machine, and if not, executing the operation command and executing the next step; if not, directly executing the next step;
c, a processing unit of the electric plant protection machine receives operation information and control information;
d, sending the operation information to a controller;
e, judging whether the processing unit generates a control command based on the control information and the job information: if not, returning to the step B; if yes, continuing to execute the next step; and
f, judging whether the control command controls the electric plant protection machine to stop: if not, executing the control command, and then returning to the step B; and if so, ending the operation of the electric plant protection machine.
In some embodiments, in the step B, the control information is sent by the controller, and the operation information is sent by a sensing unit.
In some embodiments, in step B, wherein the control information is sent through the controller and the control unit of the electric plant protection machine, and in step D, the operation information is sent to the controller and the control unit.
In some embodiments, further comprising between said step E and said step F, step X: judging whether the control command conflicts with the operation command: if yes, the operation command is not executed, and the step B is returned; if not, executing the next step.
In some embodiments, step X further includes the step of sending a command conflict message to the control unit when the control command conflicts with the control command, and returning to step B.
In some embodiments, the step B further comprises the step of determining whether the processing unit has a preset program group for controlling the electric plant protection machine: if yes, executing the preset program group, and generating the control command by the processing unit based on the preset program group to control the operation action of the electric plant protection machine; if not, a processing unit of the electric plant protection machine receives operation information and control information.
Drawings
Fig. 1 is a schematic view of an electric plant protection system according to a first preferred embodiment of the present invention.
Fig. 2 is a block diagram of the electric plant protection machine system according to the first preferred embodiment of the present invention.
Fig. 3 is a block diagram of a processing unit of the electric plant protection machine system according to the first preferred embodiment of the present invention.
Fig. 4 is a block diagram of a sensing unit of the electric plant protection machine system according to the first preferred embodiment of the present invention.
Fig. 5 is an operation diagram of the electric plant protection machine system according to the first preferred embodiment of the present invention.
Fig. 6 is a control flow chart of the electric plant protection machine system according to the first preferred embodiment of the present invention.
Fig. 7 is a schematic view of an electric plant protection system according to a second preferred embodiment of the present invention.
Fig. 8 is a block diagram of the electric plant protection machine system according to the second preferred embodiment of the present invention.
Fig. 9 is an operation diagram of the electric plant protection machine system according to the second preferred embodiment of the present invention.
Fig. 10 is a control flow chart of the electric plant protection machine system according to the second preferred embodiment of the present invention.
Detailed Description
The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art. The basic principles of the invention, as defined in the following description, may be applied to other embodiments, variations, modifications, equivalents and other technical solutions without departing from the spirit and scope of the invention.
It will be understood by those skilled in the art that in the present disclosure, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in a generic and descriptive sense only and not for purposes of limitation, as the terms are used in the description to indicate that the referenced device or element must have the specified orientation, be constructed and operated in the specified orientation, and not for the purpose of limitation.
It is understood that the terms "a" and "an" should be interpreted as meaning that a number of one element or element is one in one embodiment, while a number of other elements is one in another embodiment, and the terms "a" and "an" should not be interpreted as limiting the number.
As shown in fig. 1 to 7, an electric plant protection machine system according to a first preferred embodiment of the present invention is disclosed, which includes an electric plant protection machine 10 and a controller 20, wherein the electric plant protection machine 10 is communicably connected to the controller 20, and the electric plant protection machine 10 is remotely operated by operating the controller 20 to perform plant protection operations such as movement and spraying.
As shown in fig. 1 and 2, the electric plant protection machine 10 includes a body 11, a driving unit 12, a power supply unit 13, a spraying unit 14, a sensing unit 15, and a processing unit 16. Wherein the vehicle body 11 comprises a frame 111 and a set of wheels 112, and the driving unit 12, the power supply unit 13, the spraying unit 14, the sensing unit 15 and the processing unit 16 are mounted on the frame 111 of the vehicle body 11.
The power supply unit 13 is electrically connected to the driving unit 12, the spraying unit 14, the sensing unit 15, and the processing unit 16, and supplies power to the driving unit 12, the spraying unit 14, the sensing unit 15, and the processing unit 16.
As shown in fig. 2-4, in some embodiments, the processing unit 16 is configured to receive and transmit an operation information of the electric plant protection machine in use, and control an operation of the electric plant protection machine based on a received control command.
As shown in fig. 3, the processing unit 16 includes a processor 161, a communication module 162, and a storage module 163, wherein the processor 161 is electrically connected to the communication module 162 and the storage module 163. The processing unit 16 is communicably connected to the sensing unit 15, and the job information received by the sensing unit 15 is sent to the processor 161 and the storage module 163 of the processing unit 16. Accordingly, the processing unit 16 is communicably connected with the controller 20, the processing unit 16 being adapted to send the job information to the controller 20. The processing unit 16 is adapted to receive a control message generated by the controller 20, and the control message is sent to the processor 161 by the controller 20.
In detail, the controller 20 includes a signal module 21, an operation module 22 and a feedback module 23, and the signal module 21 is electrically connected to the operation module 22 and the feedback module 23. Wherein the signal module 21 is communicably connected with the communication module 162 of the processing unit 16, adapted to receive the job information sent by the processing unit 16, and accordingly, the signal module 21 and the communication module 162 are preferably communicably connected in a radio manner. Further, the signal module 21 sends the operation information to the feedback module 23, the feedback module 23 is adapted to feed back the operation information to an operator in real time, the operation module 22 is adapted to be operated by the operator to generate a control information, the control information is sent to the signal module 21, and the signal module 21 further sends the control information to the processing unit 16.
Preferably, the electric plant protection machine 10 and the controller 20 are communicably connected in a radio manner, in such a way that the signal transmission of the processing unit 16 and the controller 20 is instantly and stably stabilized. It should be understood by those skilled in the art that the communication connection between the electric plant protection machine 10 and the controller 20 may be implemented as a data connection, a wired electric remote control, etc., without being limited in this respect.
It is worth mentioning that one controller 20 is adapted to be connected to a plurality of electric plant protection machines 10, and specifically, the controller 20 includes a plurality of signal modules 21 to be communicably connected to the plurality of electric plant protection machines 10, so as to ensure that the connections of the controller 20 and the plurality of electric plant protection machines 10 are independent and stable. In this way, the operator can control a plurality of electric plant protection machines 10 through one controller 10, thereby improving the efficiency of plant protection work.
Further, the processor 161 of the processing unit 16 generates a control command based on the control information and the operation information, and the processing unit 16 is electrically connected to the driving unit 12 and the spraying unit 14, in this way, the processing unit 16 transmits the control command to the driving unit 12 and the spraying unit 14, and the driving unit 12 and the spraying unit 14 execute the control command and convert the control command into an operation action of the electric plant protection machine 10, thereby realizing the remote control operation of the electric plant protection machine 10.
Specifically, as shown in fig. 1 and 2, the driving unit 12 includes at least one motor 121 and a steering mechanism 122, and accordingly, the vehicle body 11 includes a frame 111 and a set of wheels 112. The motor 121 of the driving unit 12 is mechanically connected to the wheel 112 of the vehicle body to drive the wheel 112, and those skilled in the art should understand that the motor 121 and the wheel 112 can be directly mechanically connected or indirectly mechanically connected through a transmission mechanism, and the connection mode of the motor 121 and the wheel 112 cannot be understood as a limitation of the present invention. The steering mechanism 122 is mechanically connected to the wheels 112 to steer the vehicle body 11.
The processor 161 of the processing unit 16 is electrically connected to the motor 121 of the driving unit 12, and in this way, the control command generated by the processor 161 is sent to the motor 121, the control command controls the start, stop, rotation direction, rotation speed, etc. of the motor 121, and the motor 121 drives the working operation of the electric plant protection machine 10, such as start, stop, advance, retreat, speed, etc. The steering mechanism 122 is mechanically coupled to the wheels 112 to control the steering of the wheels 112. According to the first preferred embodiment of the present invention, the steering mechanism 122 of the driving unit 12 includes an electrically controlled steering valve 1221 and a steering cylinder 1222, and the steering cylinder 1222 is mechanically connected to the wheels 112 of the vehicle body 11 to control the steering of the wheels 112. The electrically controlled steering valve 1221 is connected to the steering cylinder 1222, and it should be understood by those skilled in the art that the electrically controlled steering valve 1221 is preferably a solenoid valve, and the steering cylinder 1222 is controlled by on/off of the electrically controlled steering valve 1221, further controlling the steering of the wheels 112.
Accordingly, the processor 161 of the processing unit 16 is electrically connected to the electrically controlled steering valve 1221 of the driving unit 12, and in this way, the control command generated by the processor is sent to the electrically controlled steering valve 1221, the control command controls the steering direction, the steering amplitude, and the like of the electrically controlled steering valve 1221, and the electrically controlled steering valve 1221 further controls the steering of the electric plant protection machine 10.
Thus, the remote control operation of the traveling locus of the electric plant protection machine 10 is realized by the connection between the processing unit 16 and the driving unit 12.
On the other hand, the spraying unit 14 includes a spraying pipe 141, a bracket 142, a material tank 143, and an electric pump 144, the spraying pipe 141 is communicated with the material tank 143, and the bracket 142 supports the spraying pipe 141 and drives to control the spraying height and direction of the spraying pipe 141. Specifically, the spray pipe 141 includes a set of connection pipes 1411, a set of spray pipes 1412, and a set of spray valves 1413, and the support 142 includes a set of support arms 1421 and a lift 1422. The connection pipe 1411 is connected to the spray pipe 1412, and the material tank 141 is configured to conduct a material in the material tank 141 to the spray pipe 1412. Wherein the materials include, but are not limited to, water, pesticides, etc. for agriculture and forestry plant protection. The electric pump 144 is used for pumping the material in the material tank 143 to the spraying pipe 141, the spraying pipe 1412 is further disposed on the support arm 1412, and the lifting frame 1422 is mechanically connected to the support arm 1421 to control the height of the support arm 1421. The spray valve 1413 is disposed in the spray pipe 1412, and the material is sprayed from the spray pipe 1412 through the spray valve 1413.
The processing unit 16 is electrically connected to the electric pump 144 of the spraying unit 14, in such a way that the control commands generated by the processor 161 are sent to the electric pump 144, and the control commands control the actions of the electric pump 144 such as starting, stopping, rotating speed, etc., so as to control the working actions of the spraying unit 14 such as starting, stopping, spraying amount, etc.
The processing unit 16 is electrically connected to the spray valve 1413 of the spray unit 14, in such a way that the control commands generated by the processor 161 are sent to the spray valve 1413, which control commands control the working actions of the spray valve 1413 such as start, stop, flow rate, spray pressure, etc.
The processing unit 16 is electrically connected to the arm 1421 of the spraying unit 14, in such a way that the control commands generated by the processor 161 are sent to the arm 1421, which control commands control the work action of the arm 1421 in extension and retraction.
The processing unit 16 is electrically connected to the crane 1422 of the spraying unit 14, in this way, the control command generated by the processor 161 is sent to the crane 1422, and the control command controls the actions of starting, stopping, lifting height and the like of the crane 1422. Thereby controlling the spray height of the spray tube 1412.
Therefore, the remote control operation of the electric plant protection machine 10 for spraying the materials is realized through the connection of the processing unit 16 and the spraying unit 14.
In some embodiments, the sensing unit 15 is used for receiving the operation information of the electric plant protection machine in use. Specifically, the sensing unit 15 includes a pressure sensor 151, a material sensor 152, a power monitor 153, an image collector 154, a distance sensor 155, and a motor detector 156.
Wherein the pressure sensor 151 is disposed in the spraying pipe 141 for detecting the operation information of the pipe pressure when the electric plant protection machine 10 sprays plant protection;
the material sensor 152 is disposed in the material tank 143 to detect the operation information of the remaining amount of material;
the electric quantity monitor 153 is disposed in the power supply unit 13, and is configured to detect the operation information of the battery consumption when the electric plant protection machine 10 operates;
the image collector 154 is disposed on the vehicle body 11 and is configured to collect the operation information of the peripheral image of the electric plant protection machine 10 during operation in real time, and preferably, the image collector 154 is implemented as a camera and is configured to collect the operation information including an image of an agricultural and forestry crop operated during operation of the electric plant protection machine 10;
the distance sensor 155 is disposed on the vehicle body 11 and the arm 1421, and preferably, the distance sensor 155 is disposed on the edge of the vehicle body 11 and the arm 1421, and is used for detecting the operation information of the distance between the electric plant protection machine 10 and an obstacle during operation;
the motor detector 156 is provided to the motor 121 for detecting the operation information of the motor operation state. It should be understood by those skilled in the art that the sensing unit 15 can also be implemented to include other sensing components such as a temperature sensor, a humidity sensor, etc. to detect other operation information, and is not limited to the example of the first preferred embodiment.
It should be noted that, as shown in fig. 5, the processor 161 of the processing unit 16 is electrically connected to the pressure sensor 151, the material sensor 152, the electric quantity monitor 153, the image collector 154, the distance sensor 155 and the motor detector 156 of the sensing unit 15, so that the operation information generated by the sensing unit 15 is transmitted to the processor 161. Optionally, the processor 161 of the processing unit 16 is communicably connected with the sensing unit 15 through the communication unit 162 to realize information interaction between the sensing unit 15 and the processing unit 16.
Further, the processing unit 16 sends the job information to the controller 20 through the communication module 162, and the job information is perceived by the operator through the feedback module 23. The control information generated by the operator operating the operation module 22 is sent to the processor 161 through the signal module 21 via the communication module of the processing unit 16, the processor 161 generates the control command based on the control information and the operation information, the control command is transmitted to the driving unit 12 and the spraying unit 14 of the electric plant protection machine 10 through the connection of the processing unit 16 with the driving unit 12 and the spraying unit 14, and the control command is executed and converted into the operation action of the electric plant protection machine 10 through the driving unit 12 and the spraying unit 14, thereby realizing the remote control operation of the electric plant protection machine 10.
According to another aspect of the present invention, the processing unit 16 further includes a preset program set 164, the preset program set 164 is stored in the storage module 163, and is used for generating the control command by the processing unit 16 based on the preset program set 164 when the control information is not transmitted to the processing unit 16, so as to realize the unmanned operation of the electric plant protection machine 10.
Specifically, the preset program group 164 includes a path program 1641, a spraying program 1642, a recognition program 1643, and an avoidance program 1644. Based on the path program 1641, the processing unit 16 generates the control command for controlling the motion trajectory of the electric plant protection machine 10, and controls the electric plant protection machine 10 to run along a predetermined motion trajectory when the controller 10 does not send the control information for controlling the motion trajectory of the electric plant protection machine 10;
based on the spraying program 1642, the processing unit 16 generates the control command for controlling plant protection spraying of the electric plant protection machine 10, and controls the electric plant protection machine 10 to perform the operation of spraying in a predetermined manner when the controller 10 does not send the control information for controlling plant protection spraying of the electric plant protection machine 10;
when the image collector 154 collects the operation information of the real-time image generated by the electric plant protection machine 10 during operation, based on the identification program 1643, the processor 161 generates the control command for controlling the spraying height and pressure of the electric plant protection machine 10 according to the height and range of the agricultural and forestry crops, and controls the electric plant protection machine 10 to perform the operation of spraying in a manner determined by the identification program;
based on the avoidance program 1644, when the operation information generated by the distance sensor 155 indicates that the distance between the electric plant protection machine 10 and the obstacle is too short, the processing unit 16 generates the control command for controlling the electric plant protection machine 10 to avoid the obstacle, and when the controller 10 does not send the control information for controlling the electric plant protection machine 10 to avoid, controls the electric plant protection machine 10 to perform the operation of avoiding in a manner determined by the avoidance program 1644;
preferably, the sensing unit 15 includes a positioner 157, and the positioner 157 is communicatively connected to the processor 161 of the processing unit 16 for generating the operation information of the position of the electric plant protection machine 10 during operation. The operation information of the position is further stored in the storage module 163, and based on the operation information of the position, the operation track and the real-time position of the electric plant protection machine 10 can be recorded by the processing unit 16 and sent to the controller 20, so that the operator can know the historical operation information and the real-time position of the electric plant protection machine 10 conveniently. Preferably, the locator 157 is implemented as a GPS locator to accurately determine the location of the electric plant protection machine 10 in real time.
As shown in fig. 6, a control method of the electric plant protection system according to a first preferred embodiment of the present invention is disclosed:
in step 701, activating the electric plant protection machine 10, starting the power supply unit 13 of the electric plant protection machine 10, supplying power to the driving unit 12, the spraying unit 14, the sensing unit 15 and the processing unit 16, wherein the electric plant protection machine 10 is in a standby state, and the electric plant protection machine 10 does not start the working operation;
in step 702, it is determined whether the processing unit 16 has the preset program group 164 for controlling the operation of the electric plant protection machine 10: if yes, the preset program group 164 is executed, and the processing unit 16 generates the control command based on the preset program group 164 to control the operation of the electric plant protection machine 10; if not, continuing to execute the next step;
in step 703, the processing unit 16 of the electric plant protection machine 10 receives the control information sent by the controller 20 and the operation information generated by the sensing unit 15;
in step 704, sending the job information to the controller 20, the job information being made perceivable by the operator via the feedback module 23 of the controller 20;
in step 705, it is determined whether the processing unit 16 generates the control command based on the control information and the job information: if not, returning to the step 702; if yes, continuing to execute the next step;
in step 706, it is determined whether the control command controls the stop of the electric plant protection machine 10: if not, transmitting the control command to the driving unit 12 and the spraying unit 14 of the electric plant protection machine 10 by the processing unit 16 and the driving unit 12 and the spraying unit 14, executing the control command by the driving unit 12 and the spraying unit 14, converting the control command into the working action of the electric plant protection machine 10, and returning to the step 702; if so, the operation of the electric plant protection machine 10 is ended.
As shown in fig. 7 to 10, an electric plant protection machine system according to a second preferred embodiment of the present invention is disclosed, wherein based on the disclosure of the first preferred embodiment, the vehicle body 11A of the electric plant protection machine 10A further includes a cab 113A, the cab 113A is disposed on the frame 111A for the operator to operate the electric plant protection machine 10A on the electric plant protection machine 10A, and in this way, the electric plant protection machine 10A is suitable for remote control operation and simultaneously maintains the direct operation mode, so that the operator can operate and control the electric plant protection machine 10A in two modes.
Specifically, as shown in fig. 7 and 8, the electric plant protection machine 10A further includes a control unit 17A, the control unit 17A includes an operating mechanism 171A and a feedback mechanism 172A, the control unit 17A is disposed in the cab 113A, the control unit 17A is electrically connected to the processing unit 16A, the control unit 17A receives the operation information generated and transmitted by the processing unit 16A, the operation information is sensed by the operator through the feedback mechanism 172A, and the operator generates the control information by operating the operating mechanism 171A. The control information is sent to the processing unit 16A through the control unit 17A and the electric connection of the processing unit 16A, based on the control information and the job information, the processing unit 16A generates the control command, through the processing unit 16A with the drive unit 12A, the electric connection of the spraying unit 14A, the processing unit 16A transmits the control command to the drive unit 12A and the spraying unit 14A, through the drive unit 12A and the spraying unit 14A execute the control command and convert into the job action of the electric plant protection machine 10A.
Alternatively, the control unit 17A is electrically connected to the driving unit 12A, the power supply unit 13A and the spraying unit 14A, and an operator generates an operation command by operating the operating mechanism 171A, so as to directly control the driving unit 12A, the power supply unit 13A and the spraying unit 14A, and directly control the operation of the electric plant protection machine 10A.
In accordance with another aspect of the second preferred embodiment, the steering mechanism 122A of the electric plant protection machine 10A includes a control motor 1221A and a steering wheel 1222A, the control motor 1221A and the steering wheel 1222A being mechanically coupled, the steering wheel 1222A being mechanically coupled to the wheels 112A of the vehicle body 11A, respectively. The steering wheel 1222A is adapted to be manually operated to control a driving direction of the electric plant protection machine 10A, and on this basis, the control motor 1221A is electrically connected to the processor 161A of the processing unit 16A, the control motor 1221A receives the control command from the processing unit 16A for controlling the driving direction of the electric plant protection machine 10A, and the control motor 1221A rotates the steering wheel 1222A through the rotation of the control motor 1221A, so as to control a driving track of the vehicle body 11A, and convert the control command into the working action of the driving of the electric plant protection machine 10A. In this way, the remote control operation of the driving track of the electric plant protection machine 10A is realized by adding the control motor 1221A while keeping the mechanical structure and operation mode of the existing plant protection machine.
As shown in fig. 10, a control method of the electric plant protection machine system according to a second preferred embodiment of the present invention is disclosed:
in step 701A, the electric plant protection machine 10A is activated, the power supply unit 13A of the electric plant protection machine 10A is started to supply power to the driving unit 12A, the spraying unit 14A, the sensing unit 15A and the processing unit 16A, the electric plant protection machine 10A is in a standby state, and the electric plant protection machine 10A does not start the working operation;
in step 702A, it is determined whether there is the operation command directly from the control unit 17A: if yes, judging whether the operation command controls the electric plant protection machine 10A to stop or not, if so, controlling the electric plant protection machine 10A to stop, operating the electric plant protection machine 10A, and if not, executing the operation command and executing the next step; if not, directly executing the next step;
in step 703A, it is determined whether or not the processing unit 16A has the preset program group 164A for controlling the work operation of the electric plant protection machine 10A: if yes, executing the preset program group 164A, and the processing unit 16A generating the control command based on the preset program group 164A to control the operation of the electric plant protection machine 10A; if not, continuing to execute the next step;
in step 704A, the processing unit 16A of the electric plant protection machine 10A receives the control information transmitted by the controller 20A and the operation information generated by the sensing unit 15A;
in step 705A, sending the job information to the controller 20A, the job information being made perceivable by the operator via the feedback module 23A of the controller 20A;
in step 706A, it is determined whether the processing unit 16A generates the control command based on the control information and the job information: if not, returning to the step 702A; if yes, continuing to execute the next step;
in step 707A, it is determined whether the control command conflicts with the operation command: if yes, the operation command is not executed, and the step 702A is returned; if not, executing the next step, and in this way, ensuring that when the command conflict occurs between the operator on the electric plant protection machine 10A and the operator in remote control operation, the operator in direct operation has priority for controlling the electric plant protection machine 10A;
in step 708A, it is determined whether the control command controls the stop of the electric plant protection machine 10A: if not, transmitting the control command to the driving unit 12A and the spraying unit 14A of the electric plant protection machine 10A by the processing unit 16A, the driving unit 12A and the spraying unit 14A, executing the control command by the driving unit 12A and the spraying unit 14A, converting the control command into the working action of the electric plant protection machine 10A, and returning to the step 702A; if so, the operation of the electric plant protection machine 10A is ended.
Preferably, step 707A further includes the step of sending a command conflict message to the feedback mechanism 172A of the control unit 17A when the control command conflicts with the control command, and returning to step 702A. In this way, when the operator on the electric plant protection machine 10 collides with the remotely operated operator, the operator who performs the command is given the option of directly operating the electric plant protection machine 10A, and the work operation of the electric plant protection machine 10A is based on the overall consideration of various factors.
It will be understood by those skilled in the art that the embodiments of the present invention as described above and shown in the drawings are given by way of example only and are not limiting of the present invention. The objects of the present invention have been fully and effectively accomplished. The functional and structural principles of the present invention have been shown and described in the embodiments without departing from the principles, embodiments of the present invention may have any deformation or modification.
Claims (23)
1. An electric plant protection machine, comprising:
a vehicle body;
at least one drive unit including a motor, wherein the drive unit is carried on the vehicle body and adapted to drive the vehicle body;
the spraying unit is loaded on the vehicle body and is suitable for plant protection spraying;
at least one power supply unit, wherein the power supply unit is mounted on the vehicle body; and
at least one processing unit, wherein the processing unit is mounted on the vehicle body, wherein the processing unit is electrically connected with the driving unit and the spraying unit, wherein the processing unit is suitable for being remotely connected with at least one controller so as to send at least one piece of operation information to the controller and receive at least one piece of control information from the controller, and the processing unit generates at least one control command based on the control information and the operation information so as to control the electric plant protection machine;
wherein the power supply unit is electrically connected with the driving unit, the spraying unit and the processing unit and is suitable for supplying electric energy to the driving unit, the spraying unit and the processing unit.
2. The electric plant protection machine of claim 1, wherein the processing unit comprises at least one processor, at least one communication module, and at least one memory module, wherein the processor is electrically connected to the communication module and the memory module, wherein the communication module is adapted to communicatively connect with the controller.
3. The electric plant protection machine of claim 2, wherein the driving unit comprises at least one motor and at least one steering mechanism, the vehicle body comprises a frame and a set of wheels, wherein the processor is electrically connected to the motor and the steering mechanism to control the operation of the motor and the steering mechanism, wherein the motor drives the wheels, and wherein the steering mechanism steers the wheels.
4. The electric plant protection machine of claim 3, wherein the steering mechanism comprises at least one electronically controlled steering valve, wherein the electronically controlled steering valve is mechanically coupled to the wheel to steer the wheel, and wherein the processing unit is electrically coupled to the electronically controlled steering valve to control steering of the electric plant protection machine.
5. The electric plant protection machine according to claim 4, wherein the spraying unit comprises at least one spraying pipe, at least one bracket and at least one material tank, wherein the processing unit is electrically connected with the bracket to control the operation of the bracket, wherein the spraying pipe is communicated with the material tank, wherein the bracket supports the spraying pipe and is suitable for driving and controlling the spraying height and direction of the spraying pipe.
6. The motorized plant protection machine of claim 5, wherein the spray conduit comprises a set of spray tubes and a set of spray valves, wherein the spray valves are arranged in the spray tubes, wherein the processing unit is electrically connected to the spray valves to control plant protection spray.
7. The electric plant protection machine of claim 3, wherein the body further comprises at least one cab, wherein the cab is disposed on the frame for at least one operator to operate the electric plant protection machine on the electric plant protection machine.
8. The electric plant protection machine of claim 7, wherein said electric plant protection machine further comprises at least one control unit, said control unit comprising at least one operating mechanism and at least one feedback mechanism, said control unit being electrically connected to said processing unit for receiving said operation information, wherein said feedback mechanism is adapted to feedback said operation information, wherein said operating module is adapted to be operated to generate at least one control information.
9. The electric plant protection machine of claim 8, wherein the steering mechanism comprises at least one steering wheel and at least one control motor, wherein the steering wheel is mechanically connected to the wheels and is adapted to be operated to control the steering of the electric plant protection machine, wherein the control motor is mechanically connected to the steering wheel to drive the steering wheel, and the processing unit is electrically connected to the control motor to control the operation of the control motor.
10. The electric plant protection machine according to claim 9, wherein the spraying unit comprises at least one spraying pipe, at least one bracket and at least one material tank, wherein the processing unit is electrically connected with the bracket to control the operation of the bracket, wherein the spraying pipe is communicated with the material tank, wherein the bracket supports the spraying pipe and is suitable for driving and controlling the spraying height and direction of the spraying pipe.
11. The powered plant protection machine of claim 10, wherein the spray conduit comprises a set of spray pipes and a set of spray valves, wherein the spray valves are arranged in the spray pipes, wherein the processing unit is electrically connected to the spray valves to control plant protection spray.
12. The electric plant protection machine of claim 8, wherein the control unit is electrically connected with the driving unit, the power supply unit, and the spraying unit to directly control the operation of the electric plant protection machine.
13. An electric plant protection machine according to any one of claims 1 to 12, wherein said electric plant protection machine is adapted to be communicably connected with said controller in a radio manner.
14. The electric plant protection machine of any one of claims 3 to 12, further comprising at least one sensing unit, wherein the sensing unit is adapted to sense and receive the operation information during operation of the electric plant protection machine, wherein the sensing unit is communicatively coupled to the processing unit to transmit the operation information to the processing unit.
15. An electric plant protection machine according to claim 14, wherein said electric plant protection machine is adapted to be communicably connected with said controller in a radio manner.
16. The electric plant protection machine of claim 14, wherein said sensing unit comprises at least one pressure sensor, wherein said pressure sensor is adapted to detect said operational information of said electric plant protection machine at plant spray pressure.
17. The electric plant protection machine of claim 14, wherein said sensing unit comprises at least one material sensor, wherein said material sensor is adapted to detect said operation information of the material balance.
18. The electric plant protection machine of claim 14, wherein said sensing unit comprises at least one power monitor, said power monitor being disposed in said power unit and adapted to detect said operation information of battery usage while said electric plant protection machine is operating.
19. The electric plant protection machine of claim 14, wherein the sensing unit comprises a set of image capturing devices, wherein the image capturing devices are disposed on the vehicle body and adapted to capture the operation information of the image of the periphery of the electric plant protection machine.
20. The electric plant protection machine of claim 14, wherein said sensing unit comprises a set of distance sensors adapted to detect said operational information of a distance of said electric plant protection machine from at least one obstacle.
21. The electric plant protection machine of claim 14, wherein said sensing unit comprises at least one motor detector disposed on said motor adapted to detect said operational information regarding the operating status of said motor.
22. The electric plant protection machine of claim 14, wherein said sensing unit comprises at least one locator communicatively coupled to said processing unit and adapted to generate said operation information of said electric plant protection machine position.
23. The electric plant protection machine of claim 14, wherein the processing unit further comprises at least one preset program group, the preset program group being stored in the storage module and adapted to generate the control command based on the preset program group when the control information is not transmitted to the processing unit.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822199096.5U CN210130289U (en) | 2018-12-26 | 2018-12-26 | Electric plant protection machine |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201822199096.5U CN210130289U (en) | 2018-12-26 | 2018-12-26 | Electric plant protection machine |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109588398A (en) * | 2018-12-26 | 2019-04-09 | 丰疆智慧农业股份有限公司 | Electronic fog machine and its system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109588398A (en) * | 2018-12-26 | 2019-04-09 | 丰疆智慧农业股份有限公司 | Electronic fog machine and its system |
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